Preheat oven to 400ºF. Unfold pastry sheets. Combine sugar and cinnamon; sprinkle over pastry. Sprinkle with pecans. Roll up each pastry jelly-roll style, starting with a long side. (Hold the dough firmly and roll tightly so the dough does not sag). Pinch seam to seal. With a sharp knife, cut the dough into 1/2-inch to 3/4-inch slices. Place cut side up on lightly greased baking sheet. Bake for 10 to 15 minutes. Combine the icing ingredients until smooth; drizzle or spread over rolls.